Physical Models for Hierarchical Clustering and Symbolic Inference

7. The method of claim 6, wherein each of the matched line segments forms a vector in the map of the environment.

13. The method of claim 6, wherein each line segment in the first and second sets corresponds to an edge of a physical object in the environment, wherein the line segments are stored in memory as respective scatter matrices, where each scatter matrices defines an range of uncertainty for the endpoints of each line segment in the first and second sets.